{"id":"https://openalex.org/W4317384055","doi":"https://doi.org/10.1109/robio55434.2022.10012013","title":"SmallRhex: A Fast and Highly-Mobile Hexapod Robot","display_name":"SmallRhex: A Fast and Highly-Mobile Hexapod Robot","publication_year":2022,"publication_date":"2022-12-05","ids":{"openalex":"https://openalex.org/W4317384055","doi":"https://doi.org/10.1109/robio55434.2022.10012013"},"language":"en","primary_location":{"id":"doi:10.1109/robio55434.2022.10012013","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio55434.2022.10012013","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5004777879","display_name":"Wenhui Wang","orcid":"https://orcid.org/0000-0002-2449-619X"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Wenhui Wang","raw_affiliation_strings":["Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems; Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Uni-versities,Department of Mechanical and Energy Engineering, Southern University of Science and Technology (SUSTech),Shenzhen,China,518055","Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Uni-versities, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems; Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Uni-versities,Department of Mechanical and Energy Engineering, Southern University of Science and Technology (SUSTech),Shenzhen,China,518055","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Uni-versities, Shenzhen, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085099822","display_name":"Wujie Shi","orcid":"https://orcid.org/0009-0003-8505-6379"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wujie Shi","raw_affiliation_strings":["Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems; Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Uni-versities,Department of Mechanical and Energy Engineering, Southern University of Science and Technology (SUSTech),Shenzhen,China,518055","Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Uni-versities, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems; Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Uni-versities,Department of Mechanical and Energy Engineering, Southern University of Science and Technology (SUSTech),Shenzhen,China,518055","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Uni-versities, Shenzhen, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101654599","display_name":"Zerui Li","orcid":"https://orcid.org/0000-0002-0053-4227"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zerui Li","raw_affiliation_strings":["Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems; Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Uni-versities,Department of Mechanical and Energy Engineering, Southern University of Science and Technology (SUSTech),Shenzhen,China,518055","Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Uni-versities, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems; Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Uni-versities,Department of Mechanical and Energy Engineering, Southern University of Science and Technology (SUSTech),Shenzhen,China,518055","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Uni-versities, Shenzhen, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021462587","display_name":"Weiheng Zhuang","orcid":null},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weiheng Zhuang","raw_affiliation_strings":["Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems; Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Uni-versities,Department of Mechanical and Energy Engineering, Southern University of Science and Technology (SUSTech),Shenzhen,China,518055","Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Uni-versities, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems; Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Uni-versities,Department of Mechanical and Energy Engineering, Southern University of Science and Technology (SUSTech),Shenzhen,China,518055","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Uni-versities, Shenzhen, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101705530","display_name":"Zheng Zhu","orcid":"https://orcid.org/0000-0002-4435-1692"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zheng Zhu","raw_affiliation_strings":["Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems; Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Uni-versities,Department of Mechanical and Energy Engineering, Southern University of Science and Technology (SUSTech),Shenzhen,China,518055","Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Uni-versities, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems; Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Uni-versities,Department of Mechanical and Energy Engineering, Southern University of Science and Technology (SUSTech),Shenzhen,China,518055","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Uni-versities, Shenzhen, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075727192","display_name":"Zhenzhong Jia","orcid":"https://orcid.org/0000-0001-5924-5502"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenzhong Jia","raw_affiliation_strings":["Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems; Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Uni-versities,Department of Mechanical and Energy Engineering, Southern University of Science and Technology (SUSTech),Shenzhen,China,518055","Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Uni-versities, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems; Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Uni-versities,Department of Mechanical and Energy Engineering, Southern University of Science and Technology (SUSTech),Shenzhen,China,518055","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Uni-versities, Shenzhen, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5004777879"],"corresponding_institution_ids":["https://openalex.org/I3045169105"],"apc_list":null,"apc_paid":null,"fwci":0.6413,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.66958358,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9955000281333923,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/hexapod","display_name":"Hexapod","score":0.9225386381149292},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7032519578933716},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.582962691783905},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5768904685974121},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5594886541366577},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4696924686431885},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.44195476174354553},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.42341774702072144},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17386209964752197}],"concepts":[{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.9225386381149292},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7032519578933716},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.582962691783905},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5768904685974121},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5594886541366577},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4696924686431885},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.44195476174354553},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.42341774702072144},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17386209964752197},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio55434.2022.10012013","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio55434.2022.10012013","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W181719118","https://openalex.org/W1529076775","https://openalex.org/W1743072199","https://openalex.org/W1822001265","https://openalex.org/W2116054567","https://openalex.org/W2146709755","https://openalex.org/W2149012351","https://openalex.org/W2156150946","https://openalex.org/W2167374596","https://openalex.org/W2909553221","https://openalex.org/W3206771627","https://openalex.org/W4244829684","https://openalex.org/W6607228870"],"related_works":["https://openalex.org/W2969223576","https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W2713135373","https://openalex.org/W2171912896","https://openalex.org/W2762381663","https://openalex.org/W1886477626","https://openalex.org/W4385196987","https://openalex.org/W1540467731","https://openalex.org/W218732962"],"abstract_inverted_index":{"Relying":[0],"on":[1,20,69],"the":[2,21,28,51,70,84,105,108,114,117,124,161,165,169,175,182],"unique":[3],"C-leg":[4],"structure,":[5,53],"RHex":[6,23],"robots":[7],"have":[8],"good":[9],"mobility":[10],"and":[11,30,57,74,77,89,96,99,111,140,142,151,164,181],"traffic":[12],"ability":[13],"when":[14],"having":[15],"relatively":[16],"simple":[17],"structures.":[18],"Based":[19],"existing":[22],"robots,":[24],"taking":[25],"into":[26],"account":[27],"performance":[29,59,88,162],"cost,":[31],"this":[32],"design":[33,106,131,177,184],"develops":[34],"a":[35],"small":[36],"hexapod":[37],"robot,":[38],"named":[39],"smallRhex,":[40],"with":[41,93],"low":[42],"cost":[43],"but":[44],"strong":[45],"performance.":[46],"This":[47],"paper":[48],"mainly":[49,67],"introduces":[50],"mechanical":[52,109],"robot":[54,170,187],"gaits,":[55],"simulation,":[56],"physical":[58],"tests":[60],"of":[61,87,107,113,126,145,168,185],"smallRhex":[62,186],"robots.":[63],"The":[64,79,129],"hardware":[65],"is":[66,178,188],"based":[68],"raspberry":[71,120],"pie":[72,121],"microcomputer":[73],"Robomaster":[75],"motor":[76],"accessories.":[78],"high":[80,152],"power":[81],"density":[82],"meets":[83],"dual":[85],"requirements":[86],"cost.":[90],"Then":[91,174],"cooperates":[92],"3D":[94],"printing":[95],"sheet":[97],"metal":[98],"machined":[100],"parts":[101],"processing":[102],"to":[103],"complete":[104],"structure":[110],"assembly":[112],"robot.":[115],"At":[116],"control":[118],"level,":[119],"directly":[122],"controls":[123],"movement":[125],"6":[127],"motors.":[128],"gait":[130,166,176],"includes":[132,137],"basic":[133,183],"motion":[134],"gait,":[135],"which":[136],"straight":[138],"walking":[139],"turning,":[141],"other":[143],"gaits":[144],"complex":[146],"motion:":[147],"stair":[148],"climbing,":[149],"jumping,":[150],"obstacle":[153],"climbing.":[154],"They":[155],"are":[156,171],"simulated":[157],"in":[158],"Webots.":[159],"Finally,":[160],"test":[163,167],"carried":[172],"out.":[173],"further":[179],"optimized,":[180],"completed.":[189]},"counts_by_year":[{"year":2024,"cited_by_count":2}],"updated_date":"2025-12-21T23:12:01.093139","created_date":"2025-10-10T00:00:00"}
